基于数据的柔性连杆机械臂模糊自适应控制

2012 Third International Conference on Intelligent Control and Information Processing Pub Date : 2012-07-15 DOI:10.1109/ICICIP.2012.6391459

Wenbiao Zhu, Zeng-qi Sun

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引用次数: 4

摘要

柔性连杆机械臂是高度非线性的复杂物体，其运动方程具有无限维。因此，柔性连杆机械臂的控制问题是一项具有挑战性的任务，寻求一种不依赖于精确的工厂数学模型的控制策略具有重要的现实意义。本文提出了一种基于数据的柔性连杆机械臂模糊自适应控制策略，并在实验数据的基础上描述了模糊自适应控制器的设计过程。在某柔性连杆机械臂的模糊自适应控制实验中取得了良好的效果，达到了抑制振动和精确定位的效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Data-based fuzzy adaptive control for a flexible-link manipulator

A flexible-link manipulator is a complex plant with high nonlinearity, and the equations of motion of a flexible-link manipulator have infinite dimensions. Hence, the control problems for a flexible-link manipulator are challenging tasks, seeking a control strategy which is independent of precise plant mathematical model is of practical meanings. In this paper a novel data-based fuzzy adaptive control strategy for a flexible-link manipulator is presented, and procedures for designing a fuzzy adaptive controller are described based on the collected experiment data. Good result is observed in the fuzzy adaptive control experiment of a flexible-link manipulator, the vibration suppression and precision positioning performance is achieved.

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2012 Third International Conference on Intelligent Control and Information Processing

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